Method for tracking control of preset performance in magnetic hysteresis compensation-containing motor servo system

Abstract

The invention provides a method for tracking control of preset performance in a magnetic hysteresis compensation-containing motor servo system. The control method comprises the following steps: 1, establishing a magnetic hysteresis-containing motor servo system model; 2, designing a magnetic hysteresis compensation-containing preset performance tracking control method; 3, designing system parameters to meet the minimum system tracking error. According to the method, a motor servo system is used as a study object, the system parameter uncertainty, the nonlinear frictional characteristic, the unmodeled outside interference and the magnetic hysteresis nonlinearity are considered, an excellent tracking controller is designed, a magnetic hysteresis model containing linear items and bounded interference items is established, and the controller is conveniently designed; aiming at the system parameter uncertainty and the unmodeled interference items, relatively good parameter estimation and robust bounded stabilization are achieved by an adaptive robust control method.

Description

technical field [0001] The invention relates to a control method, in particular to a motor servo system preset performance tracking control method including hysteresis compensation. Background technique [0002] The motor servo system has outstanding advantages such as fast response speed, good acceleration performance, convenient maintenance, and convenient energy acquisition. It has been widely used in industrial fields, such as turntables, industrial manipulators, and electric vehicles. With the vigorous development of related fields, the performance indicators of engineering design are becoming more and more demanding, and the demand for new controllers of motor servo systems has become urgent. However, there are many model uncertainties in the motor servo system, including parameter uncertainties (such as load force, friction characteristic parameters that change with temperature and wear, etc.) and uncertain nonlinearities (such as nonlinear friction, nonlinear hystere...

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Problems solved by technology

When there are preset performance requirements for the system in engineering practice, how to integrate these preset requirements into the controller design is rarely mentioned in the existing control methods, which limits the application of the existing control methods to a certain extent. Applicability. In addition, the transient characteristics of the actuator at the initial moment of system operation have a great impact on the subsequent operation stability of the system. Most of the existing motor servo system control designs only focus on steady-state performance, that is, steady-state tracking accuracy. and stability, which obviously makes the control design insufficient; (2) hysteresis nonlinearity is not considered

Hysteresis nonlinearity is an inherent characteristic of the motor. If it is not considered in the controller design, it will easily lead to the phase lag of the system in the low frequency band and affect the best performance of the controller; (3) High gain feedback

This is more obvious in the design of the traditional sliding film controller. The maximum upper bound of the uncertainty item is used as negative feedback to reduce the tracking error. While the design is conservative, it is easy to excite the high-frequency unmodeled dynamics of the system, resulting in system failure. stable

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